Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar
This paper applies a new constant-time, consistent and convergent Simultaneous Localization and Mapping (SLAM) algorithm to synthetic aperture sonar (SAS) data acquired by an autonomous underwater vehicle (AUV). Using a novel target detection strategy, data gathered from a 40 minute survey is proces...
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| Format: | Conference item |
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2005
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| Summary: | This paper applies a new constant-time, consistent and convergent Simultaneous Localization and Mapping (SLAM) algorithm to synthetic aperture sonar (SAS) data acquired by an autonomous underwater vehicle (AUV). Using a novel target detection strategy, data gathered from a 40 minute survey is processed and the results compared to both a ground truth and the "gold standard" quadratic time full covariance SLAM algorithm. © Springer-Verlag Berlin Heidelberg 2005. |
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